<?xml version="1.0" ?>
<Manifest 
    xmlns="http://schemas.microsoft.com/xw/2004/10/manifest.html"
    xmlns:dssp="http://schemas.microsoft.com/xw/2004/10/dssp.html"
    xmlns:simcommon="http://schemas.microsoft.com/robotics/2006/04/simulation.html"
    >
    <CreateServiceList>
        <ServiceRecordType>
            <dssp:Contract>http://erobots.jcepeda.simjaguar/2011/09/simjaguar.html</dssp:Contract>
          <dssp:Service>http://localhost/SimJaguar</dssp:Service>
        </ServiceRecordType>

       <!--Start simulated motor service--> 
      <ServiceRecordType>
        <dssp:Contract>http://erobots.jcepeda.simquaddiffdrive/2011/09/simulatedquaddifferentialdrive.html</dssp:Contract>
        <dssp:Service>http://localhost/SimJaguar/QuadDifferential</dssp:Service>
        <dssp:PartnerList>
          <dssp:Partner> <!--The partner name must match the entity name-->
            <dssp:Service>http://localhost/Jaguar</dssp:Service>
            <dssp:Name>simcommon:Entity</dssp:Name>
          </dssp:Partner>
        </dssp:PartnerList>
      </ServiceRecordType>


      <!--Start the Dashboard service-->
      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/robotics/2006/01/simpledashboard.html</dssp:Contract>
      </ServiceRecordType>
      
    </CreateServiceList>
</Manifest>
